CN114148752B

CN114148752B - Full-automatic production line for sheet-shaped workpieces

Info

Publication number: CN114148752B
Application number: CN202111473262.6A
Authority: CN
Inventors: 袁圳伟; 左选兰; 王洋
Original assignee: Shenzhen Jiujiuben Automation Equipment Co ltd
Current assignee: Shenzhen Jiujiuben Automation Equipment Co ltd
Priority date: 2021-12-03
Filing date: 2021-12-03
Publication date: 2022-10-11
Anticipated expiration: 2041-12-03
Also published as: CN114148752A

Abstract

The invention discloses a full-automatic production line for flaky workpieces, which comprises processing equipment and feeding and discharging equipment; the processing equipment comprises a plurality of processing equipment and a first manipulator for feeding and discharging materials; go up the unloading equipment and include the board and set up feedway, belt cleaning device, detection device and storage device on the board, feedway is used for exporting in proper order and treats that the processing work piece is processed, just feedway with storage device adjacent arrangement, belt cleaning device is adjacent feedway and storage device arrange and are used for wasing the work piece after processing, detection device is located storage device keeps away from feedway's one side is used for detecting the work piece after wasing, storage device is used for the storage to accomplish the work piece after the detection. The invention is beneficial to improving the processing efficiency and reducing the labor intensity of workers.

Description

Full-automatic production line for sheet-shaped workpieces

Technical Field

The invention relates to the technical field of numerical control machining, in particular to a full-automatic production line for flaky workpieces.

Background

Sheet-like workpieces (such as glass cover plates, housings and the like) are important workpieces in electronic equipment, and the sheet-like workpieces are processed by a numerical control machine tool in the prior art and then are installed on the electronic equipment. The existing numerical control machine tools are generally dispersed and independently arranged, workpieces need to be manually transported to the corresponding numerical control machine tools for processing, then the workpieces after processing are sequentially cleaned on cleaning equipment through manual work, appearance detection is carried out on detection equipment, and the problems of low efficiency and high labor intensity of workers exist in the processing mode.

Disclosure of Invention

The invention mainly aims to provide a full-automatic production line for sheet-shaped workpieces, which aims to solve the technical problems in the background technology.

In order to achieve the purpose, the full-automatic production line for the sheet-shaped workpieces comprises processing equipment and feeding and discharging equipment;

the processing equipment comprises a plurality of numerical control devices and a first manipulator which are sequentially arranged along a straight line, the first manipulator is a truss type manipulator which stretches across the head end and the tail end of the numerical control devices, and the first manipulator is used for conveying workpieces between the numerical control devices and the feeding and discharging equipment;

go up unloading equipment setting and be in one side of processing equipment, go up unloading equipment includes:

a machine platform; and

set up feedway, belt cleaning device, detection device and storage device on the board, feedway with storage device adjacent arrangement, just feedway is close to processing equipment arranges, belt cleaning device is adjacent feedway and storage device arrange and be located same one side of feedway and storage device, detection device is located storage device keeps away from feedway's one side and close on belt cleaning device and arrange.

Preferably, the feeding device comprises a first tray storage mechanism, a first conveying mechanism, a second manipulator, a first transfer platform, a third manipulator and a second transfer platform located between the first manipulator and the cleaning device, wherein the first tray storage mechanism is used for storing trays; the first conveying mechanism is used for receiving the material trays on the first material storage mechanism and conveying the material trays to a material loading point of the second mechanical arm; the second manipulator is used for grabbing the workpiece positioned in the material tray and placing the workpiece on the first transfer platform, and the third manipulator is used for grabbing the workpiece on the first transfer platform and placing the workpiece on the second transfer platform so that the first manipulator can grab the workpiece on the numerical control equipment for processing.

Preferably, the feeding device further comprises a first positioning camera and a second positioning camera, the first positioning camera is located above the feeding point of the second manipulator to acquire first image data of a workpiece on the tray, the second manipulator adjusts the position of the workpiece according to the first image data and then places the workpiece on the first transfer platform, the second positioning camera is used for acquiring second image data of the workpiece captured by the third manipulator, and the third manipulator adjusts the position of the workpiece according to the second image data and then places the workpiece on the second transfer platform.

Preferably, the feeding device further comprises a code reading camera located above or below the first transfer platform, and the code reading camera is used for reading the mark on the workpiece located on the first transfer platform.

Preferably, the second manipulator comprises a first driving assembly and at least one grabbing assembly, the first driving assembly is arranged on the machine table and is used for driving the grabbing assembly to move back and forth between a feeding point of the second manipulator and the first transfer platform, and the grabbing assembly comprises a ball spline shaft double-motion motor connected with an output end of the first driving assembly and a first vacuum suction nozzle arranged on an output end of the ball spline shaft double-motion motor.

Preferably, the third manipulator comprises a SCARA four-axis robot arranged on the machine table and a second vacuum suction nozzle connected with an output end of the SCARA four-axis robot.

Preferably, the first conveying mechanism comprises two first wire bodies arranged in parallel; the first tray storage mechanism comprises a first stacking rack, a first tray placing assembly and a first lifting assembly, the first stacking rack, the first tray placing assembly and the first lifting assembly are arranged on the machine table, a first tray outlet which is located right above two first line bodies is formed in the bottom of the first stacking rack, the first tray placing assembly controls opening and closing of the first tray outlet, and the first lifting assembly is located between the two first line bodies and grabs and places trays of the first stacking rack on the two first line bodies after the first tray outlet is opened.

Preferably, the first transfer platform comprises a second driving assembly arranged on the machine table and a first bearing plate connected with an output end of the second driving assembly, the second driving assembly is used for driving the first bearing plate to move so that a workpiece positioned on the first bearing plate sequentially moves to a code reading area of the code reading camera, the first bearing plate is provided with a plurality of first vacuum adsorption areas for placing the workpiece, and the code reading camera is positioned above or below the first bearing plate.

Preferably, the number of the first transfer platforms is two, and a third driving assembly is further arranged on the machine table and used for driving the code reading camera to move back and forth between the two first transfer platforms.

Preferably, the feeding device further comprises a first tray mechanism arranged at the feeding point of the second manipulator, the first tray mechanism comprises a second stacking rack arranged on the machine table, a second lifting assembly and a first positioning assembly, a first tray inlet and outlet port located right above the feeding point of the second manipulator is formed in the bottom of the second stacking rack, the second lifting assembly is located between the two first lines and lifts a tray, which is located at the feeding point of the second manipulator and is used for placing a workpiece to be processed, into the second stacking rack or places an empty tray located in the second stacking rack on the two first lines, and the first positioning assembly is used for positioning the tray located on the second lifting mechanism.

According to the full-automatic production line for the sheet-shaped workpieces, provided by the embodiment of the invention, the plurality of processing devices are sequentially arranged along a straight line, and automatic feeding and discharging are realized by utilizing the first mechanical arms crossing the first two ends of the processing devices, so that the processing efficiency is improved and the labor intensity of workers is reduced by improving the feeding and discharging efficiency. Simultaneously, through with feedway, belt cleaning device, detection device and the whole setting of storage device, so that realize the material loading with one side at processing equipment, wash, detect and the process of unloading, and all arrange feedway's unloading point and belt cleaning device's material loading point towards one side of first manipulator, thereby be convenient for utilize first manipulator to accomplish material loading and unloading action, and feedway and storage device arrange side by side, thereby be favorable to reducing artifical distance of round trip movement between feedway's material loading and storage device's unloading or reduce operator's quantity and workman's intensity of labour, automatic unloading has been realized, be favorable to promoting the efficiency of unloading on the work piece, also be favorable to avoiding the condition of artificial damage to appear in the process of work piece transportation.

Drawings

FIG. 1 is a schematic view of an arrangement structure of an embodiment of a full-automatic production line for sheet-like workpieces according to the present invention;

FIG. 2 is a schematic view of the arrangement of the processing apparatus shown in FIG. 1;

FIG. 3 is a schematic view of the arrangement structure of the loading and unloading apparatus shown in FIG. 1;

FIG. 4 is a schematic structural diagram of an embodiment of a fully-automatic production line for sheet-like workpieces according to the present invention;

FIG. 5 is a schematic structural diagram of the machine, the feeding device and the storing device shown in FIG. 3;

FIG. 6 is a schematic view of the feed device shown in FIG. 5;

FIG. 7 is a schematic structural diagram of the first transit platform and the code reading camera shown in FIG. 6;

FIG. 8 is a schematic view of the second robot shown in FIG. 6;

FIG. 9 is a schematic view of the gripper assembly shown in FIG. 8;

fig. 10 is a schematic view of a part of the structure of the feeder and the stocker shown in fig. 5;

fig. 11 is a schematic structural view of the second transfer platform shown in fig. 6;

fig. 12 is a schematic view of the structure of the magazine shown in fig. 5.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all directional indicators (such as up, down, left, right, front, back \8230;) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The invention provides a full-automatic production line for sheet workpieces, which comprises a processing device 1 and a feeding and discharging device 2, as shown in figures 1 to 6;

the machining equipment 1 comprises a plurality of numerical control equipment 101 and a first mechanical arm 102 which are sequentially arranged along a straight line, the first mechanical arm 102 is a truss type mechanical arm which stretches across the head two ends of the numerical control equipment 101, and the first mechanical arm 102 is used for conveying workpieces between the numerical control equipment 101 and the loading and unloading equipment 2;

go up unloading equipment 2 includes:

a machine 100; and

the feeding device 200, the cleaning device 300, the detection device 400 and the storage device 500 are arranged on the machine table 100, the feeding device 200 is arranged adjacent to the storage device 500, the feeding device 200 is arranged close to the numerical control equipment 101, the cleaning device 300 is arranged adjacent to the feeding device 200 and the storage device 500 and is positioned on the same side of the feeding device 200 and the storage device 500, and the detection device 400 is positioned on one side of the storage device 500 far away from the feeding device 200 and is arranged close to the cleaning device 300;

the plurality of numerical control devices 101 (e.g., glass engraving and milling machines) may be arranged in sequence along a straight line, and at this time, the first robot 102 preferably employs a truss-type robot or a gantry-type robot, so as to facilitate placing the workpiece located on the second transfer platform 280 on the corresponding numerical control device 101 and placing the workpiece processed by the numerical control device 101 on the cleaning device 300. Of course, the plurality of numerical control devices 101 may be configured in a corresponding shape according to the field, such as in a ring arrangement, and the first robot 102 selects a corresponding robot according to the arrangement form, such as a four-axis robot in a ring arrangement. The numerical control equipment 101 may be in the existing form, such as a single-station form or a double-station form, which is not described in detail herein, and the number of the numerical control equipment 101 may be set according to the feeding and discharging beats of the feeding and discharging equipment 2. At this time, it is preferable that the numerical control device 101 is provided with a code reading device to obtain an identifier, such as a two-dimensional code, on the workpiece, so as to associate the number of the numerical control device 101 that processes the workpiece with the identifier, so as to obtain the number of the numerical control device 101 that processes the workpiece by scanning the identifier on the workpiece, so as to quickly obtain whether a bad workpiece is the numerical control device 101 with the same number when the workpiece is processed in a bad batch manner, and thus, quickly obtain a reason for the problem. Of course, after the code reading camera 250 reads the identification information on the workpiece, the workpiece may be directly allocated to the numerical control device 101 with the corresponding number according to the preset rule for processing, and the identification on the workpiece may be associated with the number of the numerical control device 101.

The machine table 100 is of a frame structure, and can be integrated or split, for example, the feeding device 200, the cleaning device 300 and the storage device 500 are preferably located on the same split, while the detection device 400 is separately located on another split, and the two are combined together in a splicing manner, so that the machine table is convenient to transport after being split. At this time, it is preferable that the feeding device 200, the cleaning device 300, the detecting device 400, and the storing device 500 are arranged in a rectangular shape as a whole, so that the whole is conveniently provided at one side of the processing apparatus 1. The feeding device 200 and the storage device 500 may be in the form of a conveyor line and a manipulator, so as to facilitate the feeding and discharging of the workpieces. The cleaning device 300 may be arranged in the form of an existing conveyor line + spraying + air drying so as to clean the residues left after processing on the workpiece. The inspection apparatus 400 may be configured with reference to an existing AOI inspection system to detect whether the appearance of the processed workpiece meets preset specifications. In this embodiment, a plurality of pieces of numerical control equipment 101 are sequentially arranged along a straight line, and automatic feeding and discharging are realized by the first manipulator 102 stretching over the first two ends of the numerical control equipment, so that the processing efficiency is improved and the labor intensity of workers is reduced by improving the feeding and discharging efficiency. Meanwhile, through with feedway 200, belt cleaning device 300, detection device 400 and the whole setting of storage device 500, so that realize the material loading in same one side of processing equipment 1, wash, the process of detection and unloading, and arrange feedway 200's unloading point and belt cleaning device 300's material loading point all towards one side of processing equipment 1, thereby be convenient for utilize first manipulator 102 to accomplish material loading and unloading action, and feedway 200 and storage device 500 arrange side by side, so as to be favorable to reducing artifical round trip movement's distance between feedway 200's material loading and storage device 500's unloading or reduce operator's quantity and intensity of labour, automatic unloading has been realized, be favorable to promoting the efficiency of unloading of work piece, also be favorable to avoiding the condition that the work piece artificially damages in the process of transportation.

In a preferred embodiment, as shown in fig. 6, the feeding device 200 comprises a first tray mechanism 210, a first conveying mechanism 220, a second robot 230, a first transfer platform 240, a third robot 260, and a second transfer platform 280 located between the first robot 102 and the washing device 300, wherein the first tray mechanism 210 is used for storing trays; the first conveying mechanism 220 is used for receiving the trays on the first tray storage mechanism 210 and conveying the trays to a feeding point of the second manipulator 230; the second robot 230 is used for grabbing the workpieces in the trays and placing the workpieces on the first transfer platform 240, and the third robot 260 is used for grabbing the workpieces on the first transfer platform 240 and placing the workpieces on the second transfer platform 280, so that the first robot 101 can grab the workpieces onto the numerical control device 101 for processing. At this time, it is preferable that the first tray storage mechanism 210 stores trays in a stacked manner, so as to facilitate reducing an area occupied by the first tray storage mechanism 210, the first transfer platform 240 has a region for placing a workpiece thereon, the third robot 260 is then used to grab the workpiece on the first transfer platform 240 onto the second transfer platform 280, and the second transfer platform 280 has a plurality of placing regions for respectively receiving the workpieces on the third robot 260, and then the first robot 102 is used to grab onto the processing platform of the numerical control device 101 for processing. The second robot 230 and the third robot 260 may be vacuum-sucked or clamped. In this embodiment, the feeding is realized by transporting the workpieces by stages by using the second manipulator 230 and the third manipulator 240, so that the beat of transporting the workpieces is promoted, and the processing efficiency is promoted by promoting the transporting efficiency of the workpieces.

In a preferred embodiment, as shown in fig. 6, the feeding device 200 further preferably comprises a first positioning camera and a second positioning camera 270, the first positioning camera is located above the feeding point of the second robot 230 to obtain first image data of the workpiece on the tray, the second robot 230 is placed on the first transfer platform 240 after adjusting the position of the workpiece according to the first image data, the second positioning camera 270 is used to obtain second image data of the workpiece captured by the third robot 260, and the third robot 260 is placed on the second transfer platform 280 after adjusting the position of the workpiece according to the second image data. The first conveying mechanism 220 conveys the tray discharged by the first tray storing mechanism 210 in the form of a conveying line, and stops after the tray moves to the feeding point of the second manipulator 230, so that the first positioning machine arranged downwards can conveniently acquire the first image data of a plurality of workpieces in the tray at one time (suitable for the situation that the workpieces are large and are not revolving bodies), while the second manipulator 230 can grasp the workpieces in the tray according to the first image data and place the workpieces on the first transit platform 240 after position adjustment, wherein the position adjustment mode is to rotate the workpieces around the vertical direction. Of course, the first positioning camera may be disposed upward, the workpiece may be moved to a position right above the first positioning camera after the second robot 230 captures the workpiece, so that the first positioning camera separately obtains first image data of the workpiece, and then the second robot 230 adjusts the position of the workpiece according to the first image data and places the workpiece on the first relay platform 240. At this time, it is preferable that the second positioning camera 270 is disposed upward, the second positioning camera 270 acquires the second image data in a manner that the third robot 260 moves the grasped workpiece to a position directly above the second positioning camera 270, so that the second positioning camera 270 acquires the second image data of the workpiece, and then the third robot 260 can adjust the position of the workpiece according to the second image data, where the position adjustment is also in a manner that the workpiece is controlled to rotate around the vertical direction by a preset angle, so that the workpiece can be accurately placed on the second transfer platform 280. The first positioning camera and the second positioning camera 270 may both adopt a CCD camera + light source form, so as to acquire image data of the workpiece. In this embodiment, through the position at the in-process adjustment work piece of transportation to be convenient for promote the conveying efficiency of work piece and the precision of placing the work piece.

In a preferred embodiment, as shown in fig. 7, the feeding device 200 further comprises a code reading camera 250 located above or below the first transfer platform 240, wherein the code reading camera 250 is used for reading the mark on the workpiece located on the first transfer platform 240. The mark on the workpiece can be read by the code reading camera 250, and the mark can be a mark such as a two-dimensional code which can be used for recording information of the workpiece, so that the processing information of the workpiece can be conveniently recorded into the corresponding two-dimensional code, and the control on the processing state of the workpiece can be conveniently promoted.

In a preferred embodiment, as shown in fig. 8 and 9, it is preferable that the second robot 230 includes a first driving unit 231 and at least one grasping unit 232, the first driving unit 231 is disposed on the machine base 100 and drives the grasping unit 232 to reciprocate between the feeding point of the second robot 230 and the first transfer platform 240, and the grasping unit 232 includes a ball spline shaft dual motion motor 233 connected to an output end of the first driving unit 231 and a first vacuum suction nozzle 234 disposed on an output end of the ball spline shaft dual motion motor 233. Preferably, the first driving assembly 231 includes a first linear module and a second linear module, for example, an output end of the first linear module is connected to the second linear module, an output end of the second linear module is connected to the grabbing assembly 232, the first linear module is used for driving the grabbing assembly 232 to move along the X-axis direction, and the second linear module is used for driving the grabbing assembly 232 to move along the Y-axis direction, so as to drive the grabbing assembly 232 to move in the horizontal plane. In this case, the X-axis direction and the Y-axis direction are two directions perpendicular to each other in the horizontal plane. Because the output shaft of the dual motion motor 233 of ball spline shaft has the functions of moving along the vertical direction and rotating around the vertical direction, it is convenient to drive the work piece adsorbed on the first vacuum suction nozzle 234 to go up and down, the dual motion motor 233 of ball spline shaft can also drive the work piece adsorbed according to the first image data to rotate, so as to realize material taking and placing and adjust the placing angle of the work piece. At this time, it is preferable that there are three grabbing units 232, and the three grabbing units 232 are arranged in parallel at the output end of the second linear module.

In a preferred embodiment, as shown in fig. 6, it is preferable that the third robot 260 includes a SCARA four-axis robot provided on the machine table 100 and a second vacuum suction nozzle connected to an output end of the SCARA four-axis robot. Wherein, because SCARA four-axis robot possesses the drive and moves in the horizontal plane by the work piece that second vacuum nozzle adsorbs and still possesses the drive work piece and go upward, down and control work piece around vertical direction pivoted function, so be convenient for utilize SCARA four-axis robot still can be according to the position of above-mentioned second image data adjustment work piece when transporting the work piece, thereby be favorable to putting the accurate placing of work piece on second transfer platform 280, so that supply processing equipment to get the material from second transfer platform 280. Of course, the third robot 260 may be arranged with reference to the structure of the second robot 230.

In a preferred embodiment, as shown in fig. 6 and 10, the first conveying mechanism 220 preferably comprises two first threads 221 arranged side by side; first stock quotation mechanism 210 is including setting up first hack frame 211, first set subassembly 212 and the first subassembly 213 of lifting on board 100, and the bottom of first hack frame 211 has the first dish mouth that is located directly over two first lines body 221, and the opening and shutting of the first dish mouth of control is put to first set subassembly 212, and first subassembly 213 of lifting is located between two first lines body 221, and snatchs the charging tray of first hack frame 211 and places on two first lines body 221 after first dish mouth opens. Preferably, the first thread bodies 221 are belt-type, and the distance between the two first thread bodies 221 can be set according to the width of the material tray, so that the two first thread bodies 221 can respectively carry the two opposite ends of the material tray for transportation. First storage tray mechanism 210 refers to current form and sets up can, if first hack frame 211 adopts four stands to enclose to close and constitutes the storage space that is used for piling up the storage tray, first set of components 212 is two to relative arrangement is in storage space's week side, and specific structure can adopt the form of first straight line cylinder + first board of accepting, through the first straight line cylinder drive first board of accepting move towards storage space to be located the charging tray bottom of lower floor, thereby realize the charging tray storage in storage space. The first lifting assembly 213 may also adopt a form of a second linear cylinder and a second receiving plate, and the second linear cylinder drives the second receiving plate to move upward, so that the second receiving plate contacts with the bottom of the lowest tray to drive the tray to move downward and place the tray on the two first lines 221. At this moment, piling up a plurality of charging trays of placing the work piece that remains to be processed and placing back in first hacking frame 211, the second accepts the board and goes upward and contact with the charging tray bottom of lower floor, then first board of accepting moves towards the outside of accomodating the chamber (two first board of accepting move back to back promptly), the second accepts the board and can drive the charging tray down this moment, and first board of accepting moves towards accomodating the intracavity (two first boards of accepting move in opposite directions promptly) after its down default distance (the thickness of a charging tray promptly), so that it is located the bottom of penultimate charging tray, and the second accepts the board and can continue to drive a charging tray down and place on two first line bodies 221, thereby realized the automatic blowing action of charging tray. Of course, in order to control the distance that the first lifting assembly 213 drives the tray to move, the second linear cylinder may be replaced by a motor + a screw rod.

In a preferred embodiment, as shown in fig. 7, the first transfer platform 240 preferably includes a second driving element 241 disposed on the machine 100 and a first bearing plate 242 connected to an output end of the second driving element 241, the second driving element 241 is used for driving the first bearing plate 242 to move, so that the workpieces located on the first bearing plate 242 sequentially move to a code reading area of the code reading camera 250, a plurality of first vacuum absorption areas for placing the workpieces are disposed on the first bearing plate 242, and the code reading camera 250 is located above or below the first bearing plate 242. The code reading camera 250 is preferably located below the first bearing plate 242, and the second driving assembly 241 is preferably in the form of a linear module so as to drive the first bearing plate 242 to move linearly, and the first bearing plate 242 has a plurality of first vacuum absorption areas arranged along the moving direction thereof and used for respectively placing workpieces, so as to ensure the stability of the workpieces on the first bearing plate 242 by using vacuum suction force, and the first vacuum absorption areas can be formed by a plurality of through holes, and the through holes are communicated with the vacuum pump through a pipeline. At this time, at least a portion of the region (i.e., the region where the mark is disposed) is suspended when the workpiece is placed on the first carrier plate 242, so that the code reading camera 250 can read the mark on the workpiece. In this embodiment, the first bearing plate 242 drives the workpiece to sequentially move to a position right above the code reading camera 250, so that the code reading camera 250 can read the mark on the workpiece.

In a preferred embodiment, the number of the first transfer platforms 240 is preferably two, and a third driving assembly is further disposed on the machine platform 100, and the third driving assembly is used for driving the code reading camera 250 to move back and forth between the two first transfer platforms 240. Preferably, the two first transfer platforms 240 are arranged in parallel, that is, the two first bearing plates 242 are spaced by a preset distance and have the same moving direction, and the third driving assembly preferably adopts a linear module form, so as to facilitate the movement of the code reading camera 250, that is, the moving direction of the code reading camera 250 and the moving direction of the first bearing plates 242 are arranged in a vertical state in a horizontal plane, so as to facilitate the code reading camera 250 to complete the code reading of the workpiece on one of the bearing plates and then move to the lower side of the other first bearing plate 242, so as to facilitate the code reading of the workpiece on the first bearing plate 242, thereby facilitating the increase of the code reading efficiency and the increase of the loading efficiency.

In a preferred embodiment, as shown in fig. 11, the second transfer platform 280 preferably includes a fourth driving assembly 281 disposed on the machine 100 and a second carrier 282 connected to an output end of the fourth driving assembly 281, the fourth driving assembly 281 is configured to drive the second carrier 282 to move, and the second carrier 282 is provided with a plurality of second vacuum absorption areas for placing the workpiece thereon. Wherein, be equipped with a plurality of second vacuum adsorption districts on the second loading board 282, the second vacuum adsorption district can refer to first vacuum adsorption district and set up, and the quantity in preferred second vacuum adsorption district is unanimous with the quantity in first vacuum adsorption district, so that once only receive the work piece on the first transfer platform 240, preferably adopt sharp module as for fourth drive subassembly 281, thereby be convenient for drive second loading board 282 to the unloading point that is close to or keeps away from third manipulator 260, the unloading point department that the second loading board 282 is located the third manipulator 260 is convenient for receive the work piece on the third manipulator 260, the unloading point department that keeps away from the third manipulator 260 is favorable to the automatic material of getting of processing equipment.

In a preferred embodiment, as shown in fig. 10, the feeding device 200 further comprises a first tray mechanism 290 disposed at the feeding point of the second robot 230, the first tray mechanism 290 comprises a second stacker 291, a second lifting assembly 292 and a first positioning assembly 293 disposed on the machine base 100, the bottom of the second stacker 291 has a first tray inlet and outlet port located directly above the feeding point of the second robot 230, the second lifting assembly 292 is located between the two first lines 221 and lifts a tray to be processed at the feeding point of the second robot 230 into the second stacker 291 or places an empty tray located in the second stacker 291 on the two first lines 221, and the first positioning assembly 293 is used for positioning a tray located on the second lifting assembly 292. Wherein, the second hack frame 291 refers to first hack frame 211 to set up can, the difference point lies in that the height of second hack frame 291 is lower, second hack frame 291 only need take in a charging tray can, second lift subassembly 292 also can refer to first lift subassembly 213 and set up, so that lift the charging tray that moves under first business turn over dish mouth in to second hack frame 291, it is two to prefer first fixing tray subassembly, and relative arrangement is in the week side of second hack frame 291, first fixing tray subassembly includes third sharp cylinder and locating plate, the locating plate has horizontally arranged's accepting part and the location portion of vertical arrangement, thereby make things convenient for when two locating plates move in opposite directions usable accepting part bears the charging tray and utilize two location portion centre grippings to fix a position the charging tray on the accepting part, so that second manipulator 230 snatchs the work piece. In this embodiment, the tray released from the first stacker frame 211 is transported to a position right below the second stacker frame 291 by the two first strings 221, and then is lifted into the second stacker frame 291 by the second lifting assembly 292, and after the second robot 230 finishes grabbing the workpiece in the tray, the empty tray is replaced on the two first strings 221 by the second lifting assembly 292, where the empty tray may be manually placed on the storage device 500, or may be directly transported to the storage device 500 by the two first strings 221 or the robot.

In a preferred embodiment, as shown in fig. 12, the stocker 500 preferably includes a second conveying mechanism 510, a second tray mechanism 520, a second tray fixing mechanism 530, a fourth robot 540, and a third tray mechanism 550, wherein the second tray mechanism 520, the second tray fixing mechanism 530, and the third tray mechanism 550 are sequentially arranged along the conveying direction of the second conveying mechanism 510, the second conveying mechanism 510 is configured to receive empty trays on the first conveying mechanism 220, the second tray mechanism 520 is configured to receive empty trays on the second conveying mechanism 510 or to place stored empty trays on the second conveying mechanism 510, the second tray fixing mechanism 530 is configured to position empty trays placed on the second conveying mechanism 510 by the second tray mechanism 520, the fourth robot 540 is configured to pick up the workpieces after completion of detection into empty trays on the second tray fixing mechanism 530, and the third tray mechanism 550 is configured to receive trays on the second conveying mechanism 510 on which the workpieces after completion of detection are placed. Preferably, the second conveying mechanism 510 is arranged with reference to the first conveying mechanism 220, and takes the form of two second wire bodies 511 arranged in parallel so as to be in butt joint with the two first wire bodies 221, thereby automatically receiving empty trays on the two first wire bodies 221. The second tray storage mechanism 520 and the third tray storage mechanism 550 can be set according to the form of the first tray storage mechanism 210 to achieve automatic collection and release of trays, the second tray fixing mechanism 530 can also be set according to the form of the first tray fixing mechanism 290 to achieve automatic positioning of trays, and the fourth manipulator 540 can also be set according to the third manipulator 260 to achieve automatic discharging and placing of workpieces. Of course, the storage device 500 may also be provided with a third positioning camera and a fourth positioning camera with reference to the feeding device 200, and a first conveying line 560 for receiving the workpieces output by the inspection device 400, wherein the third positioning camera is provided directly above the first conveying line 560 so as to be used for sequentially acquiring third image data of the workpieces on the conveying line, so that the fourth robot 540 captures the workpieces on the first conveying line 560 according to the third image data, and the fourth positioning camera is arranged close to the second conveying mechanism 510, so that after the fourth robot 540 moves the captured workpieces to be directly above the fourth positioning camera, the fourth positioning camera is used for acquiring fourth image data of the workpieces, so that the fourth robot 540 adjusts the positions of the workpieces according to the fourth image data and places the workpieces in the tray. In this embodiment, the empty tray is received by the second conveying mechanism 510 and stored by the second tray storage mechanism 520 or directly conveyed to the second tray fixing mechanism 530, and then positioned by the second tray fixing mechanism 530, so that the fourth manipulator 540 can place the detected workpiece in the empty tray, and after the workpiece on the tray is full, the tray is placed on the second conveying mechanism 510 again, and finally the tray is conveyed to the third tray storage mechanism 550 by the second conveying mechanism 510 and stored.

In a preferred embodiment, as shown in fig. 6, the machine 100 is further provided with a second conveying line 110, preferably, the conveying direction of the second conveying line 110 is perpendicular to the conveying direction of the first conveying mechanism 220, and the second conveying line 110 is located above or below the first conveying mechanism 220, so as to facilitate the third robot 260 to place a bad workpiece on the second conveying line 110, wherein the bad workpiece is determined by the first positioning camera and/or the code reading camera 250, if the first positioning camera can detect that the appearance of the workpiece is bad and the code reading camera 250 can detect that the mark on the workpiece carries bad information or cannot identify the mark, the workpieces of the above types can be classified as bad workpieces. Meanwhile, as shown in fig. 12, it is preferable that the machine station 100 further includes a third conveyor line 120, a conveying direction of the third conveyor line 120 is preferably perpendicular to a conveying direction of the second conveyor mechanism 510, and the third conveyor line 120 is located above or below the second conveyor mechanism 510, so that a defective workpiece detected by the detection device 400 can be conveniently placed on the third conveyor line 120 by using the fourth robot 540, and the defective workpiece can be determined by recording the defective information of the workpiece into an identifier of the workpiece by the detection device 400, and determining whether the workpiece is a defective workpiece after reading the identifier information on the workpiece by using the third positioning camera or the separately provided code reading camera 250.

The above is only a part or preferred embodiment of the present invention, and neither the text nor the drawings should limit the scope of the present invention, and all equivalent structural changes made by the present specification and the contents of the drawings or the related technical fields directly/indirectly using the present specification and the drawings are included in the scope of the present invention.

Claims

1. A full-automatic production line for sheet workpieces is characterized by comprising processing equipment and feeding and discharging equipment;

a machine platform; and

the feeding device is arranged adjacent to the storage device, the feeding device is arranged close to the processing equipment, the cleaning device is arranged adjacent to the feeding device and the storage device and is positioned on the same side of the feeding device and the storage device, and the detection device is positioned on one side, far away from the feeding device, of the storage device and is arranged close to the cleaning device;

the feeding device comprises a first tray storage mechanism, a first conveying mechanism, a second manipulator, a first transfer platform, a third manipulator and a second transfer platform located between the first manipulator and the cleaning device, wherein the first tray storage mechanism is used for storing trays, the first conveying mechanism is used for receiving the trays on the first tray storage mechanism and conveying the trays to a feeding point of the second manipulator, the second manipulator is used for grabbing workpieces located in the trays and placing the workpieces on the first transfer platform, a code reading camera is arranged above or below the first transfer platform and used for reading marks on the workpieces located on the first transfer platform, and the third manipulator is used for grabbing the workpieces on the first transfer platform and placing the workpieces on the second transfer platform;

the machine table is also provided with a second conveying line, and the third manipulator is also used for grabbing the bad workpieces on the first transfer platform and placing the bad workpieces on the second conveying line;

the material storage device comprises a second conveying mechanism and a fourth manipulator, the second conveying mechanism is in butt joint with the first conveying mechanism and is used for receiving an empty tray on the first conveying mechanism, and the fourth manipulator is used for grabbing a detected workpiece into the empty tray;

the machine table is also provided with a third conveying line, and the fourth manipulator is also used for grabbing the bad workpieces detected by the detection device and placing the bad workpieces on the third conveying line;

the feeding device comprises a first conveying mechanism, a feeding device and a second conveying mechanism, wherein the first conveying mechanism comprises two first line bodies which are arranged in parallel, the first positioning mechanism is arranged at a feeding point of a second mechanical arm and comprises a second stacking frame, a second lifting assembly and a first positioning assembly, the second stacking frame is arranged on a machine table, a first tray inlet and outlet opening is formed in the bottom of the second stacking frame and is located right above the feeding point of the second mechanical arm, the second lifting assembly is located between the two first line bodies and lifts a tray, located at the feeding point of the second mechanical arm, of a workpiece to be machined into the second stacking frame or places an empty tray located in the second stacking frame on the two first line bodies, and the first positioning assembly is used for positioning the tray located on the second lifting assembly.

2. The full-automatic production line for the sheet-shaped workpieces as claimed in claim 1, wherein the feeding device further comprises a first positioning camera and a second positioning camera, the first positioning camera is located above a feeding point of the second manipulator to obtain first image data of the workpieces on the tray, the second manipulator is placed on the first transfer platform after adjusting the positions of the workpieces according to the first image data, the second positioning camera is used for obtaining second image data of the workpieces grabbed by the third manipulator, and the third manipulator is placed on the second transfer platform after adjusting the positions of the workpieces according to the second image data.

3. The full-automatic production line for the sheet-shaped workpieces as claimed in claim 1, wherein the second manipulator comprises a first driving assembly and at least one grabbing assembly, the first driving assembly is arranged on the machine table and drives the grabbing assembly to move back and forth between a feeding point of the second manipulator and the first transfer platform, and the grabbing assembly comprises a ball spline shaft double-motion motor connected with an output end of the first driving assembly and a first vacuum suction nozzle arranged on an output end of the ball spline shaft double-motion motor.

4. The full-automatic production line for sheet-shaped workpieces as claimed in claim 1, wherein the third mechanical arm comprises a SCARA four-axis robot arranged on the machine table and a second vacuum suction nozzle connected with an output end of the SCARA four-axis robot.

5. The full-automatic production line for the sheet-shaped workpieces as claimed in claim 1, wherein the first tray storing mechanism includes a first stacker rack, a first tray placing assembly and a first lifting assembly, the first stacker rack is disposed on the machine table, a first tray outlet is formed in the bottom of the first stacker rack and located directly above the two first lines, the first tray placing assembly controls the opening and closing of the first tray outlet, and the first lifting assembly is located between the two first lines and grabs and places trays of the first stacker rack on the two first lines after the first tray outlet is opened.

6. The full-automatic production line for the sheet-shaped workpieces as claimed in claim 1, wherein the first transfer platform comprises a second driving assembly disposed on the machine platform and a first bearing plate connected to an output end of the second driving assembly, the second driving assembly is configured to drive the first bearing plate to move, so that the workpieces on the first bearing plate sequentially move to a code reading area of the code reading camera, the first bearing plate is provided with a plurality of first vacuum adsorption areas for placing the workpieces, and the code reading camera is located above or below the first bearing plate.

7. The full-automatic production line for the sheet-shaped workpieces as claimed in claim 6, wherein the number of the first transfer platforms is two, and a third driving assembly is further arranged on the machine platform and used for driving the code reading camera to move back and forth between the two first transfer platforms.